Hand wearing device and intelligent control system

Abstract

The invention relates to a hand wearing device and an intelligent control system. The hand wearing device comprises a palm assembly, a finger assembly, a finger wearing assembly and a palm wearing assembly. The finger assembly comprises a first connecting rod, a second connecting rod and a force feedback unit; the force feedback unit is connected with the palm assembly; two ends of the first connecting rod are respectively connected with the force feedback unit and the second connecting rod; the second connecting rod can rotate around a second axis relative to the first connecting rod; the finger wearing assembly is connected to the second connecting rod and is used for binding fingers of an operator; the palm wearing assembly is connected to the palm assembly and used for binding the palm of the operator. According to the mechanical arm, reverse torque can be applied to the first connecting rod through the force feedback unit to simulate the counter-acting force of the target object to fingers when the human hand actually grabs the target object, so that an operator obtains the holding feeling, and the situation that the force applied by the mechanical arm to the target object is too large or too small is avoided; the control precision of the manipulator is improved.

Description

Technical Field

[0001] The present invention belongs to the field of robotics technology, and in particular relates to a hand-worn device and an intelligent control system. Background Art

[0002] In some remote control operations, the operator can control the manipulator movement of the robot at the task site through the corresponding hand-worn device. Among them, both the hand-worn device and the manipulator have finger components corresponding to human fingers. When the operator's fingers move, the finger components of the hand-worn device can be driven to move, so that the finger components of the manipulator can be controlled to move, thereby completing the grasping operation of the target object.

[0003] However, in actual operation, since the human hand does not need to directly contact and grasp the target object, the operator will lack a real sense of holding, which can easily lead to reduced control accuracy of the operator over the robot, and in turn easily lead to the robot applying too much or too little force on the target object. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in the prior art, when an operator uses a hand-worn device to control a robot arm, the operator lacks a real sense of holding, which leads to a decrease in the control accuracy of the robot arm. Provided are a hand-worn device and an intelligent control system.

[0005] In order to solve the above problems, on the one hand, the present invention provides a hand wear device, including a palm component, a finger component, a finger wear component and a palm wear component; the finger component includes a first connecting rod, a second connecting rod and a force feedback unit; the force feedback unit is connected to the palm component; the two ends of the first connecting rod are respectively connected to the force feedback unit and the second connecting rod; the force feedback unit has a standby state and a force feedback state, when the force feedback unit is in the standby state, the first connecting rod can be rotated around a first axis relative to the palm component through the force feedback unit; when the force feedback unit is in the force feedback state, it can drive the first connecting rod to rotate around the first axis; the second connecting rod can rotate around the second axis relative to the first connecting rod; the angle between the first axis and the second axis is zero, an acute angle or an obtuse angle; the finger wear component is connected to the second connecting rod for binding the operator's fingers; the palm wear component is connected to the palm component for binding the operator's palm.

[0006] Optionally, the finger assembly also includes a connecting piece, which is connected to the end of the second connecting rod facing away from the first connecting rod and can rotate relative to the second connecting rod around a third axis; the connecting piece connects the finger wear assembly; the angle between the third axis and the first axis is zero, an acute angle or an obtuse angle; the angle between the third axis and the second axis is zero, an acute angle or an obtuse angle.

[0007] Optionally, the force feedback unit includes a shell and a driving module; the shell is connected to the palm assembly; a avoidance hole is provided on the shell, the avoidance hole penetrates from the outer surface of the shell to the inner surface of the shell, and the inner surface of the shell is enclosed to form a accommodating cavity; the driving module is arranged in the accommodating cavity; the first connecting rod extends from the avoidance hole into the accommodating cavity to connect the driving module.

[0008] Optionally, the shell can rotate around a fourth axis relative to the palm assembly; the angle between the first axis and the fourth axis is a right angle, an acute angle or an obtuse angle; the angle between the second axis and the fourth axis is a right angle, an acute angle or an obtuse angle.

[0009] Optionally, the force feedback unit also includes a connecting arm, a first end of which is connected to the housing; the palm assembly includes a palm seat, which has a through hole; the second end of the connecting arm is arranged in the through hole and is rotatably connected to the palm seat around the fourth axis.

[0010] Optionally, the through hole passes through the outer surface of the palm seat to the inner surface of the palm seat, and the inner surface of the palm seat encloses an installation cavity; the hand-worn device also includes a control component, which is installed in the installation cavity and connected to the drive module through a conductive wire; a wire groove is provided on the connecting arm, and the wire groove passes through the end face of the second end and extends to the area of ​​the connecting arm located outside the palm seat; the conductive wire is passed through the wire groove and the through hole.

[0011] Optionally, a connecting hole is provided on the inner side surface of the through hole, and the connecting hole includes a first hole and a second hole, and the first hole and the second hole are spaced apart in the extension direction of the fourth axis; a rotating shaft is provided on the connecting arm, and both ends of the rotating shaft protrude from the connecting arm in the extension direction of the fourth axis, and the axis of the rotating shaft is the fourth axis; both ends of the rotating shaft are respectively arranged in the first hole and the second hole, and can rotate around its own axis in the connecting hole relative to the palm seat.

[0012] Optionally, the palm seat includes a base, a housing and a pressure plate; the base is connected to the housing and the pressure plate to enclose the installation cavity; the pressure plate and the base enclose the through hole; the base and the pressure plate are arranged along the extension direction of the fourth axis, the first hole is set on the base, and the second hole is set on the pressure plate.

[0013] Optionally, the hand-worn device further includes a first angle sensor, which is used to detect the angle of rotation of the first connecting rod around the first axis relative to the palm assembly; and / or the hand-worn device further includes a second angle sensor, which is used to detect the angle of rotation of the second connecting rod around the second axis relative to the first connecting rod.

[0014] Optionally, there are multiple finger assemblies, each of which is connected to the finger wearing assembly; the finger wearing assembly on one finger assembly is used to bind a finger of the operator; the multiple finger assemblies include a first finger assembly and multiple second finger assemblies; wherein the finger wearing assembly on the first finger assembly is used to bind the thumb of the operator; the finger wearing assemblies on the multiple second finger assemblies are respectively used to bind the index finger, middle finger, ring finger and little finger of the operator.

[0015] Optionally, the palm assembly includes a palm seat and a connecting rod; the two ends of the connecting rod are respectively rotatably connected to the first finger assembly and the palm seat; multiple second finger assemblies are connected to the palm seat; the connecting rod is connected to the palm seat and can rotate relative to the palm seat around a fifth axis, the first axis of the first finger assembly intersects with the fifth axis, and the second axis of the first finger assembly intersects with the fifth axis.

[0016] In order to solve the above problems, on the one hand, the present invention provides an intelligent control system, including any one of the hand-worn devices described above.

[0017] In the hand-worn device and intelligent control system provided by the embodiments of the present invention, when the operator controls the robot to grasp the target object through the hand-worn device, in the process of the operator's fingers bending to drive the first connecting rod to rotate, a reverse torque can be applied to the first connecting rod through the force feedback unit to simulate the reaction force of the target object on the fingers when the human hand actually grasps the target object, so that the operator can obtain a gripping feeling, which is beneficial to avoid the situation where the robot applies too much or too little force on the target object, so as to improve the control accuracy of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. 1 is a schematic diagram of a hand-worn device provided in an embodiment of the present invention. Figure 1 ; Figure 2 FIG. 1 is a schematic diagram of a hand-worn device provided in an embodiment of the present invention. Figure 2 ; Figure 3 FIG. 1 is a schematic diagram of the structure of a finger assembly of a hand-worn device provided by an embodiment of the present invention. Figure 1 ; Figure 4 FIG. 1 is a schematic diagram of the structure of a finger assembly of a hand-worn device provided by an embodiment of the present invention. Figure 1 ; Figure 5 is a schematic structural diagram of a finger assembly of a hand wearable device provided by an embodiment of the present invention; Figure 6 It is a partial cross-sectional view of a finger assembly of a hand-worn device provided in one embodiment of the present invention.

[0019] The reference numerals in the specification are as follows: 10. Hand-worn devices; 1. Palm assembly; 11. Palm seat; 111. Base; 112. Housing; 113. Press plate; 114. Mounting slot; 12. Through hole; 13. Connecting hole; 131. First hole; 132. Second hole; 14. Connecting rod; 2. Finger assembly; 21. First connecting rod; 22. Second connecting rod; 23. Force feedback unit; 231. Housing; 232. Driving module; 233. Avoidance hole; 234. Accommodating chamber; 235. Driving member; 236. Transmission mechanism; 237. Connecting arm; 238. Wire groove; 239. Rotating shaft; 24. Connecting member; 3. Finger wear components; 4. Finger wear components; 5. The first angle sensor; 6. Second angle sensor; 7. Circuit board; 8. Power supply components; 9. Positioning device. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] like Figures 1 to 4As shown, in one embodiment, the hand wearable device 10 includes a palm component 1, a finger component 2, a finger wearable component 3 and a palm wearable component 4; the finger component 2 includes a first connecting rod 21, a second connecting rod 22 and a force feedback unit 23; the force feedback unit 23 is connected to the palm component 1; the two ends of the first connecting rod 21 are respectively connected to the force feedback unit 23 and the second connecting rod 22; the force feedback unit 23 has a standby state and a force feedback state. When the force feedback unit 23 is in the standby state, the first connecting rod 21 can rotate around the first axis relative to the palm component 1 through the force feedback unit 23; when the force feedback unit 23 is in the force feedback state, it can drive the first connecting rod 21 to rotate around the first axis; the second connecting rod 22 can rotate around the second axis relative to the first connecting rod 21; the angle between the first axis and the second axis is zero, an acute angle or an obtuse angle; the finger wearable component 3 is connected to the second connecting rod 22 for binding the operator's fingers; the palm wearable component 4 is connected to the palm component 1 for binding the operator's palm.

[0022] In this embodiment, when the operator wears the hand wear device 10, the operator's fingers are bound by the finger wear component 3, and the operator's palms are bound by the palm wear component 4. When the operator's fingers are bent, the first connecting rod 21 can be driven to rotate around the first axis, and the second connecting rod 22 can be driven to rotate around the second axis.

[0023] When the operator bends his fingers to drive the first connecting rod 21 to rotate, a reverse torque can be applied to the first connecting rod 21 through the force feedback unit 23 to simulate the reaction force of the target object on the fingers when the human hand actually grasps the target object, so that the operator can get a gripping feeling.

[0024] When the hand-worn device 10 is used in conjunction with the robot's manipulator, and the operator controls the manipulator to grasp a target object through the hand-worn device 10, the reaction force provided by the force feedback unit 23 can simulate the reaction force of the target object on the manipulator when the manipulator grasps the target object, thereby helping to avoid the situation where the manipulator applies too much or too little force on the target object, thereby improving the control accuracy of the manipulator.

[0025] Preferably, the included angle between the first axis and the second axis is zero, and the first axis and the second axis are parallel and spaced apart.

[0026] like Figure 1As shown, in one embodiment, a plurality of finger assemblies 2 are provided, and each finger assembly 2 is connected to a finger wearing assembly 3; the finger wearing assembly 3 on one finger assembly 2 is used to bind one finger of the operator; wherein the plurality of finger assemblies 2 include a first finger assembly 2a and a plurality of second finger assemblies 2b; the finger wearing assembly 3 on the first finger assembly 2a is used to bind the thumb of the operator; the finger wearing assembly 3 on the plurality of second finger assemblies 2b are respectively used to bind the index finger, middle finger, ring finger and little finger of the operator.

[0027] Among them, the number of first finger components 2a can be one, which corresponds to the thumb of a human hand, and the number of second finger components 2b can be four, and these four first finger components 2a correspond to the index finger, middle finger, ring finger and little finger of the human hand respectively.

[0028] When in use, each finger of a person's hand is respectively worn on a finger wearing module on the finger assembly 2 corresponding to the finger, so that each finger is respectively bound to the finger assembly 2 corresponding to it, so that when each finger is bent and rotated, it can drive the connecting rod (such as the first connecting rod 21 and the second connecting rod 22, etc.) of the corresponding finger assembly 2 to rotate.

[0029] In addition, the second finger component 2b may be connected to one end in the length direction of the palm component 1. The length direction of the palm component 1, the width direction of the palm component 1, and the thickness direction of the palm component 1 are perpendicular to each other.

[0030] like Figure 3 As shown, in one embodiment, the finger assembly 2 further includes a connector 24, which is connected to the end of the second connecting rod 22 away from the first connecting rod 21 and can rotate relative to the second connecting rod 22 around a third axis; the connector 24 is connected to the finger wear assembly 3; the angle between the third axis and the first axis is zero, an acute angle, or an obtuse angle; the angle between the third axis and the second axis is zero, an acute angle, or an obtuse angle. At this time, the connector 24 is equivalent to the third connecting rod of the finger assembly 2, which can improve the flexibility of the finger assembly 2 and enable it to better match the operator's fingers.

[0031] Preferably, the angle between the third axis and the first axis is zero, in which case the third axis and the first axis are parallel and spaced apart. The angle between the third axis and the second axis is zero, in which case the third axis and the second axis are parallel and spaced apart.

[0032] like Figure 3 and Figure 4As shown, in one embodiment, the force feedback unit 23 includes a shell 231 and a driving module 232; the shell 231 is connected to the palm assembly 1; an avoidance hole 233 is provided on the shell 231, and the avoidance hole 233 passes through the outer surface of the shell 231 to the inner surface of the shell 231, and the inner surface of the shell 231 encloses a accommodating cavity 234; the driving module 232 is arranged in the accommodating cavity 234; the first connecting rod 21 extends from the avoidance hole 233 into the accommodating cavity 234 to connect the driving module 232.

[0033] The shell 231 can shield and protect the connection area between the driving module 232 and the first connecting rod 21 to prevent the connection area from being hit by foreign objects or dust accumulation, thereby ensuring the smooth rotation of the first connecting rod 21 around the first axis.

[0034] In one embodiment, the driving module 232 includes a driving member 235 and a transmission mechanism 236. The driving member 235 can be a power source such as a rotary motor that can drive an object to rotate, and the transmission mechanism 236 can be a mechanism such as a gear reduction mechanism that can achieve torque transmission.

[0035] When the driving member 235 is a rotating motor, the main shaft of the motor is connected to the first connecting rod 21 through the transmission mechanism 236. When the force feedback unit 23 is in the standby state, the motor can be unpowered. At this time, the motor can be a motor without a brake, and the main shaft of the motor can rotate, so that the first connecting rod 21 can rotate around the first axis. In addition, when the force feedback unit 23 is in the force feedback state, the motor can be powered on, and the main shaft of the motor is driven by electromagnetic force, thereby applying a reverse force to the first connecting rod 21.

[0036] In one embodiment, the avoidance hole 233 may be disposed on a surface below the housing 231, wherein after the operator wears the hand-worn device 10, the surface of the housing 231 located below refers to the housing 231 close to the back of the hand. Moreover, after assembly, the avoidance hole 233 may be located below the driving module 232.

[0037] In one embodiment, the housing 231 can rotate relative to the palm assembly 1 around the fourth axis; the angle between the first axis and the fourth axis is a right angle, an acute angle, or an obtuse angle; the angle between the second axis and the fourth axis is a right angle, an acute angle, or an obtuse angle. When the housing 231 rotates relative to the palm assembly 1 around the fourth axis, the finger assembly 2 can be driven to rotate relative to the palm assembly 1 around the fourth axis.

[0038] Preferably, the angle between the fourth axis and the first axis is a right angle, in which case the fourth axis and the first axis are perpendicular. The angle between the fourth axis and the second axis is a right angle, in which case the fourth axis and the second axis are perpendicular.

[0039] When there are multiple finger assemblies 2, each finger assembly 2 may be arranged in sequence and spaced apart along the width direction of the palm assembly 1, the width direction of the palm assembly 1 may be perpendicular to the fourth axis, and when the housing 231 rotates relative to the palm assembly 1 around the fourth axis, the first axis may be parallel to the width direction of the palm assembly 1. In addition, when the finger assembly 2 rotates relative to the palm assembly 1 around the fourth axis, the movement of the fingers approaching or moving away from each other may be simulated.

[0040] In addition, the fourth axis may be parallel to the thickness direction of the palm component 1 .

[0041] like Figure 2 and Figure 3 As shown, in one embodiment, the force feedback unit 23 further includes a connecting arm 237, the first end of which is connected to the housing 231; the palm assembly 1 includes a palm seat 11, the palm assembly 1 includes a palm seat 11, and the palm seat 11 has a through hole 12; the second end of the connecting arm 237 is disposed in the through hole 12, and is connected to the palm seat 11 by rotation around the fourth axis. In this way, the connection area between the palm seat 11 and the connecting arm 237 can be shielded and protected to prevent the connection area between the two from being hit by foreign objects or dust accumulation, thereby providing a guarantee for the smooth rotation of the connecting arm 237 around the fourth axis.

[0042] The connecting arm 237 rotates around the fourth axis relative to the palm seat 11 , so that the housing 231 can rotate around the fourth axis relative to the palm assembly 1 .

[0043] like Figure 3 , Figure 5 and Figure 6 As shown, in one embodiment, the through hole 12 passes through the outer surface of the palm seat 11 to the inner surface of the palm seat 11, and the inner surface of the palm seat 11 encloses a mounting cavity; the hand-worn device 10 also includes a control component, which is installed in the mounting cavity and connected to the drive module 232 through a conductive wire; a wire groove 238 is provided on the connecting arm 237, and the wire groove 238 passes through the end face of the second end and extends to the area where the connecting arm 237 is located outside the palm seat 11; the conductive wire is passed through the wire groove 238 and the through hole 12.

[0044] In this embodiment, the through hole 12 is also equivalent to a wire hole, so as to facilitate the conductive wire to pass through the inside of the installation cavity from the outside of the palm seat 11. Moreover, by setting the wire groove 238, it is possible to effectively avoid the interference such as squeezing between the connecting arm 237 and the conductive wire when the connecting arm 237 rotates. At the same time, by setting the wire groove 238 on the connecting arm 237, at least a part of the conductive wire can be set in the connecting arm 237 after assembly, which can make the entire hand-worn device 10 neater and avoid the conductive wire from being scratched when the finger assembly 2 rotates.

[0045] Among them, at least a part of the connecting arm 237 is located outside the palm seat 11, for example, one end of the connecting arm 237 connected to the shell 231 is located outside the palm seat 11, so that the conductive wire can extend from the wire groove 238 to the outside of the palm seat 11. In addition, the wire groove 238 can be an end surface that penetrates to one end of the connecting arm 237 for connecting to the shell 231.

[0046] It should be understood that in some embodiments, the wire groove 238 may also be provided on the palm seat 11, for example, on the inner side of the through hole 12, and the wire groove 238 passes through from the outer surface of the palm seat 11 to the inner surface of the palm seat 11. The inner side of the through hole 12 is the surface of the palm seat 11 enclosed to form the through hole 12.

[0047] like Figure 6 As shown, in one embodiment, a connecting hole 13 is provided on the inner side surface of the through hole 12, and the connecting hole 13 includes a first hole 131 and a second hole 132, and the first hole 131 and the second hole 132 are arranged at intervals in the extension direction of the fourth axis; a rotating shaft 239 is provided on the connecting arm 237, and in the extension direction of the fourth axis, both ends of the rotating shaft 239 protrude from the connecting arm 237, and the axis of the rotating shaft 239 is the fourth axis; the two ends of the rotating shaft 239 are respectively arranged in the first hole 131 and the second hole 132, and can rotate around its own axis relative to the palm seat 11 in the connecting hole 13.

[0048] The rotating shaft 239 rotates around its own axis in the connecting hole 13 relative to the finger seat, that is, the connecting arm 237 can rotate around the fourth axis relative to the palm seat 11. The setting of this embodiment can make the connection between the connecting arm 237 and the palm seat 11 more firmly.

[0049] It should be understood that the first hole 131 and the second hole 132 can be coaxially arranged, and the axis of the two can be the fourth axis. In addition, when the connecting arm 237 rotates around the fourth axis, it can swing in the through hole 12, and the angle of rotation of the connecting arm 237 around the fourth axis can be limited by the side wall of the through hole 12. Among them, when the connecting arm 237 is inserted into the through hole 12, the connecting arm 237 and the inner surface of the through hole 12 can be separated by a certain distance so that the connection can swing in the through hole 12.

[0050] In one embodiment, bearings are provided at both ends of the rotating shaft 239, and the bearings at both ends of the rotating shaft 239 are respectively installed in the first hole 131 and the second hole 132. There may be two bearings, which are respectively arranged at the brightness of the rotating shaft 239, and the rotating shaft 239 is interference fit with the inner ring of the bearing, and the outer rings of the two bearings are respectively interference fit with the first hole 131 and the second hole 132.

[0051] like Figure 1 , 2 as well as Figure 6As shown, in one embodiment, the palm seat 11 includes a base 111, a housing 112 and a pressure plate 113; the base 111 is connected to the housing 112 and the pressure plate 113 to enclose a mounting cavity; the pressure plate 113 is arranged in the mounting cavity and encloses the base 111 to form a through hole 12; the base 111 and the pressure plate 113 are arranged along the extension direction of the fourth axis, the first hole 131 is arranged on the base 111, and the second hole 132 is arranged on the pressure plate 113.

[0052] The base 111 and the housing 112 may be enclosed to form a cavity with an opening at one end, and the pressing plate 113 is disposed in the cavity and seals the opening of the cavity, thereby forming an installation cavity.

[0053] In addition, the base 111 and the pressing plate 113 are arranged along the extension direction of the fourth axis, and the extension direction of the fourth axis is the thickness direction of the finger assembly 2. Moreover, in the extension direction of the fourth axis, the surface of the pressing plate 113 used to connect to the base 111 (the surface is defined as the first surface) is provided with a first groove, and the surface of the base 111 used to connect to the pressing plate 113 (the surface is defined as the second surface) can seal the opening formed by the first groove on the first surface to enclose and form the through hole 12. Moreover, the first groove can be a rectangular groove, etc.

[0054] Furthermore, in the extending direction of the fourth axis, the first hole 131 is provided on the bottom surface of the first groove, and the second hole 132 is provided on the second surface.

[0055] In one embodiment, the pressing plate 113 and the base 111 are detachably connected. For example, the two can be detachably connected together by a connecting member 24 such as a screw.

[0056] In addition, the base 111 and the housing 112 are also detachably connected together, for example, the two can be detachably connected together by a snap-fitting manner.

[0057] In one embodiment, the base 111 and the housing 112 are also arranged along the extension direction of the fourth axis, and the pressing plate 113 is located between the housing 112 and the base 111 .

[0058] like Figure 3 As shown, in one embodiment, the hand-worn device 10 further includes a first angle sensor 5, which is used to detect the angle of rotation of the first connecting rod 21 around the first axis relative to the palm assembly 1. When working, the rotation angle of the finger structure of the manipulator can be controlled according to the detection value of the first angle sensor 5. And / or, the hand-worn device 10 further includes a second angle sensor 6, which is used to detect the angle of rotation of the second connecting rod 22 around the second axis relative to the first connecting rod 21. Wherein, when working, the rotation angle of the finger structure of the manipulator can be controlled according to the detection value of the second angle sensor 6.

[0059] Specifically, the finger structure of the manipulator includes a first knuckle and a second knuckle. The first knuckle is rotationally connected to the palm structure of the manipulator, and the second knuckle is rotationally connected to the first knuckle. The first knuckle corresponds to the first connecting rod 21, and the second knuckle corresponds to the second connecting rod 22. When working, the rotation angle of the first knuckle relative to the palm structure can be controlled according to the detection value of the first angle sensor 5, and the rotation angle of the second knuckle relative to the first knuckle can be controlled according to the detection value of the second angle sensor 6.

[0060] Moreover, in actual scenarios, the detection value of the first angle sensor 5 may be equal to the rotation angle of the first knuckle relative to the palm structure, and the detection value of the second angle sensor 6 may be equal to the rotation angle of the second knuckle relative to the first knuckle.

[0061] In addition, the first angle sensor 5 and the second angle sensor 6 may both adopt existing designs, and their connection methods for detecting the relative rotation of two objects may also be set according to actual needs, and this embodiment does not impose too many restrictions.

[0062] In addition, the first angle sensor 5 and the second angle sensor 6 are both connected to the control component, so that the detection results of the two can be transmitted to the control component, and then the movement of the manipulator can be controlled by the control component.

[0063] In one embodiment, the finger wearing component 3 is a first strap, and the two ends of the first strap are respectively connected to the connecting parts 24, and the two are enclosed to form a first wearing space, and the finger can be inserted into the first wearing space, thereby realizing the binding of the finger component 2 and the finger together through the finger wearing component 3.

[0064] In addition, the first strap may be an elastic member, so that the first wearing space can be stretched and contracted to accommodate fingers of different sizes.

[0065] Of course, in other embodiments, the finger wearing component 3 can also be an object such as Velcro that can tie the finger to the connecting member 24.

[0066] In one embodiment, the palm wearing component 4 is a second strap, and the two ends of the second strap are respectively connected to the palm component 1, and the two are enclosed to form a second wearing space, and the palm can be inserted into the second wearing space, thereby achieving the palm component 1 and the palm being bound together through the palm wearing component 4.

[0067] The second strap may be an elastic member, so that the second wearing space can be expanded and contracted to accommodate palms of different sizes.

[0068] In addition, both ends of the second strap may be connected to the base 111. Moreover, the second wearing space is located on a side of the base 111 away from the pressing plate 113.

[0069] Of course, in other embodiments, the palm wearing component 4 can also be an object such as Velcro that can bind the palm to the palm component 1.

[0070] It should be understood that in addition to being able to be separately set up (such as the above-mentioned related settings), the finger wearing component 3 and the palm wearing component 4 can also be set up in an integrated manner, for example, the finger wearing component 3 and the palm wearing component 4 can be different positions of the glove.

[0071] like Figure 1 and Figure 2 As shown, in one embodiment, in order to better imitate the human hand, the palm assembly 1 also includes a connecting rod 14; the two ends of the connecting rod 14 are respectively rotatably connected to the first finger assembly 2a and the palm seat 11; multiple second finger assemblies 2b are all connected to the palm seat 11, wherein the finger assemblies 2 rotatably connected to the through holes 12 are all second finger assemblies 2b.

[0072] In addition, the connecting rod 14 can rotate around the fifth axis relative to the palm seat 11, the first axis of the first finger assembly 2a intersects with the fifth axis, and the second axis of the first finger assembly 2a intersects with the fifth axis.

[0073] When the connecting rod 14 rotates around the fifth axis relative to the palm seat 11, it can simulate the rotation of the base of the thumb relative to the palm. The rotation of the first finger assembly 2a relative to the connecting rod 14 is equivalent to the rotation of the second finger assembly 2b relative to the palm seat 11 around the fourth axis.

[0074] In addition, the axis of rotation of the first finger assembly 2a relative to the connecting rod 14 may be a sixth axis, wherein the sixth axis may be perpendicular to the first axis and the second axis of the first finger assembly 2a, and may be perpendicular to the sixth axis.

[0075] In one embodiment, the connecting rod 14 can be rotatably connected to the base 111. Moreover, the connecting rod 14 and the base 111 can be arranged along the width direction of the palm assembly 1. That is, the second finger assembly 2b is connected to one end of the palm assembly 1 in the width direction. In one embodiment, the palm wearing component 4 is located between the connecting rod 14 and the first finger component 2a in the length direction of the palm component 1. This can improve the binding effect of the palm on the palm component 1.

[0076] like Figure 2 As shown, in one embodiment, the control assembly includes a circuit board 7, and the circuit board 7 is fastened to the base 111 by screws or the like.

[0077] like Figure 2As shown, in one embodiment, the base 111 is provided with a mounting groove 114. In the thickness direction of the palm assembly 1, the mounting groove 114 is located on the surface of the base 111 close to the housing 112. After assembly, the mounting groove 114 is located in the mounting space. The circuit board 7 is disposed in the mounting groove 114 and is spaced apart from the bottom surface of the mounting groove 114.

[0078] In addition, if Figure 2 As shown, the hand-worn device 10 further includes a power supply component 8, which is disposed in the installation space. Specifically, the power supply component 8 can be disposed in the installation slot 114 and located between the circuit board 7 and the bottom surface of the installation slot 114.

[0079] The power supply component 8 can supply power to the control component and the force feedback unit 23, etc. The power supply component 8 can include a battery, etc.

[0080] like Figure 1 and Figure 5 As shown, in one embodiment, the hand-worn device 10 also includes a positioning device 9, which is used to determine the position of the hand-worn device 10. When working, the positioning device 9 can cooperate with the corresponding sensor in the space where the hand-worn device 10 is located to determine the position of the hand-worn device 10. For example, when the hand-worn device 10 moves forward and backward, left and right, up and down, and reverse with the human hand, these movements of the hand-worn device 10 can be detected by the positioning device 9 so as to control the robot to also perform these movements.

[0081] In addition, the positioning device 9 may be disposed on the palm assembly 1 , specifically, it may be disposed on the palm seat 11 and installed on the outer surface of the palm seat 11 .

[0082] An embodiment of the present invention also provides an intelligent control system, which includes the hand-worn device 10 described in any one of the above embodiments.

[0083] The control system also includes a robot, and the operator can remotely control the robot's manipulator through the hand-worn device 10. In addition, the hand-worn device 10 and the robot can communicate in a wired or wireless manner.

[0084] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A hand-worn device, characterized in that: Including a palm component, a finger component, a finger wear component and a palm wear component; The finger assembly includes a first connecting rod, a second connecting rod and a force feedback unit; The force feedback unit is connected to the palm assembly; Two ends of the first connecting rod are respectively connected to the force feedback unit and the second connecting rod; The force feedback unit has a standby state and a force feedback state. When the force feedback unit is in the standby state, the first connecting rod can rotate relative to the palm component around the first axis through the force feedback unit; when the force feedback unit is in the force feedback state, the first connecting rod can be driven to rotate around the first axis; The second connecting rod is capable of rotating relative to the first connecting rod around a second axis; The angle between the first axis and the second axis is zero, an acute angle or an obtuse angle; The finger wearing assembly is connected to the second connecting rod and is used to bind the operator's fingers; The palm wearing component is connected to the palm component and is used to bind the palm of the operator.

2. The hand-worn device according to claim 1, characterized in that: The finger assembly further includes a connecting member, which is connected to an end of the second connecting rod away from the first connecting rod and can rotate relative to the second connecting rod around a third axis; The connecting piece is connected to the finger wear component; The angle between the third axis and the first axis is zero, an acute angle or an obtuse angle; The included angle between the third axis and the second axis is zero, an acute angle or an obtuse angle.

3. The hand-worn device according to claim 1, characterized in that: The force feedback unit comprises a housing and a driving module; The housing is connected to the palm assembly; The shell is provided with an avoidance hole, the avoidance hole penetrates from the outer surface of the shell to the inner surface of the shell, and the inner surface of the shell encloses to form a receiving cavity; The driving module is arranged in the accommodating cavity; The first connecting rod extends from the avoidance hole into the accommodating cavity to be connected to the driving module.

4. The hand-worn device according to claim 3, characterized in that: The housing can rotate relative to the palm assembly around a fourth axis; The angle between the first axis and the fourth axis is a right angle, an acute angle or an obtuse angle; The included angle between the second axis and the fourth axis is a right angle, an acute angle or an obtuse angle.

5. The hand-worn device according to claim 4, characterized in that: The force feedback unit further comprises a connecting arm, a first end of which is connected to the housing; The palm assembly comprises a palm seat having a through hole; the second end of the connecting arm is arranged in the through hole and is rotatably connected to the palm seat around the fourth axis.

6. The hand-worn device according to claim 5, characterized in that: The through hole penetrates from the outer surface of the palm seat to the inner surface of the palm seat, and the inner surface of the palm seat encloses a mounting cavity; The hand-worn device further includes a control component, which is installed in the installation cavity and connected to the driving module via a conductive wire; The connecting arm is provided with a wire groove, the wire groove penetrates to the end surface of the second end and extends to the area of ​​the connecting arm located outside the palm seat; The conductive wire is inserted into the wire groove and the through hole.

7. The hand-worn device according to claim 5, characterized in that: A connecting hole is provided on the inner side of the through hole, and the connecting hole includes a first hole and a second hole. In the extending direction of the fourth axis, the first hole and the second hole are arranged at intervals; The connecting arm is provided with a rotating shaft, and in the extending direction of the fourth axis, both ends of the rotating shaft protrude from the connecting arm, and the axis of the rotating shaft is the fourth axis; The two ends of the rotating shaft are respectively arranged in the first hole and the second hole, and can rotate around its own axis in the connecting hole relative to the palm seat.

8. The hand-worn device according to claim 7, characterized in that: The palm seat comprises a base, a housing and a pressing plate; The base is connected to the housing and the pressing plate to enclose and form the installation cavity; The pressing plate and the base are enclosed to form the through hole; The base and the pressing plate are arranged along an extending direction of the fourth axis, the first hole is arranged on the base, and the second hole is arranged on the pressing plate.

9. The hand-worn device according to claim 1, characterized in that: The hand-worn device further includes a first angle sensor, and the first angle sensor is used to detect the angle at which the first connecting rod rotates around the first axis relative to the palm component; and / or, The hand-worn device also includes a second angle sensor, which is used to detect the angle at which the second connecting rod rotates around the second axis relative to the first connecting rod.

10. The hand-worn device according to claim 1, characterized in that: There are multiple finger assemblies, each of which is connected to the finger wearing assembly; the finger wearing assembly on one of the finger assemblies is used to bind a finger of the operator; The plurality of finger assemblies include a first finger assembly and a plurality of second finger assemblies; Wherein, the finger wearing component on the first finger component is used to bind the thumb of the operator; The finger wearing components on the plurality of second finger components are respectively used to bind the index finger, middle finger, ring finger and little finger of the operator.

11. The hand-worn device according to claim 10, characterized in that: The palm assembly includes a palm seat and a connecting rod; The two ends of the connecting rod are rotatably connected to the first finger assembly and the palm seat respectively; A plurality of the second finger assemblies are connected to the palm seat; The connecting rod is connected to the palm seat and can rotate relative to the palm seat around a fifth axis. The first axis of the first finger assembly intersects the fifth axis, and the second axis of the first finger assembly intersects the fifth axis.

12. An intelligent control system, characterized in that: A hand-worn device comprising any one of claims 1 to 11.

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